A Bicycle Robot: Part 1 Modeling and Control

In this paper, a simple fuzzy logic based intelligent architecture is developed for controlling a bicycle robot. The approximated model for membership functions and control gains can be obtained by simply considering the robot as an inverted pendulum in 3-dimensional space. The obtained model is merely a conceptually estimating one because the mismatch modeling and the uncertainty will be taken care by the intelligent controller. Simulation results are carried out. The hardware realization and implementation will be shown in Part 2.